ATE516120T1 - Operations-assistenz-system zur führung eines chirurgischen hilfsinstrumentes - Google Patents
Operations-assistenz-system zur führung eines chirurgischen hilfsinstrumentesInfo
- Publication number
- ATE516120T1 ATE516120T1 AT09724141T AT09724141T ATE516120T1 AT E516120 T1 ATE516120 T1 AT E516120T1 AT 09724141 T AT09724141 T AT 09724141T AT 09724141 T AT09724141 T AT 09724141T AT E516120 T1 ATE516120 T1 AT E516120T1
- Authority
- AT
- Austria
- Prior art keywords
- guiding
- surgical instrument
- assistance system
- pks
- inclination
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3405—Needle locating or guiding means using mechanical guide means
- A61B2017/3409—Needle locating or guiding means using mechanical guide means including needle or instrument drives
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/11—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39389—Laparoscopic surgery, camera on center of operated part, view around, scale
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40415—Semi active robot, cobot, guides surgeon, operator to planned trajectory, constraint
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45123—Electrogoniometer, neuronavigator, medical robot used by surgeon to operate
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45166—Tomography
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Robotics (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pathology (AREA)
- Mechanical Engineering (AREA)
- Endoscopes (AREA)
- Manipulator (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102008016146A DE102008016146B4 (de) | 2008-03-28 | 2008-03-28 | Operations-Assistenz-System zur Führung eines chirurgischen Hilfsinstrumentes |
PCT/DE2009/000387 WO2009117989A2 (de) | 2008-03-28 | 2009-03-20 | Operations-assistenz-system zur führung eines chirurgischen hilfsinstrumentes |
Publications (1)
Publication Number | Publication Date |
---|---|
ATE516120T1 true ATE516120T1 (de) | 2011-07-15 |
Family
ID=41059946
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
AT09724141T ATE516120T1 (de) | 2008-03-28 | 2009-03-20 | Operations-assistenz-system zur führung eines chirurgischen hilfsinstrumentes |
Country Status (6)
Country | Link |
---|---|
US (1) | US8433389B2 (de) |
EP (1) | EP2254735B1 (de) |
CN (1) | CN101980838B (de) |
AT (1) | ATE516120T1 (de) |
DE (1) | DE102008016146B4 (de) |
WO (1) | WO2009117989A2 (de) |
Families Citing this family (33)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8223193B2 (en) | 2009-03-31 | 2012-07-17 | Intuitive Surgical Operations, Inc. | Targets, fixtures, and workflows for calibrating an endoscopic camera |
DE102010029275A1 (de) * | 2010-05-25 | 2011-12-01 | Siemens Aktiengesellschaft | Verfahren zum Bewegen eines Instrumentenarms eines Laparoskopierobotors in einer vorgebbare Relativlage zu einem Trokar |
CN103108602B (zh) * | 2010-09-15 | 2015-09-30 | 皇家飞利浦电子股份有限公司 | 从血管树图像对内窥镜的机器人控制 |
DE102010040987A1 (de) * | 2010-09-17 | 2012-03-22 | Siemens Aktiengesellschaft | Verfahren zum Platzieren eines Laparoskopieroboters in einer vorgebbaren Relativlage zu einem Trokar |
US10092359B2 (en) | 2010-10-11 | 2018-10-09 | Ecole Polytechnique Federale De Lausanne | Mechanical manipulator for surgical instruments |
CN102525543A (zh) * | 2010-10-12 | 2012-07-04 | 上海交通大学 | C臂机引导下遥控穿刺定位的方法 |
CN101947135B (zh) * | 2010-10-12 | 2012-10-31 | 上海交通大学 | C臂机引导下遥控穿刺定位*** |
CN103717355B (zh) | 2011-07-27 | 2015-11-25 | 洛桑联邦理工学院 | 用于远程操纵的机械遥控操作装置 |
CN104519823B (zh) * | 2012-08-02 | 2018-02-16 | 皇家飞利浦有限公司 | 机器人远程运动中心的控制器限定 |
US9265581B2 (en) | 2013-04-21 | 2016-02-23 | Gyrus Acmi, Inc. | Relay based tool control |
DE102013108228A1 (de) * | 2013-07-31 | 2015-02-05 | MAQUET GmbH | Assistenzeinrichtung zur bildgebenden Unterstützung eines Operateurs während eines chirurgischen Eingriffs |
WO2015031777A1 (en) * | 2013-08-29 | 2015-03-05 | Wayne State University | Camera control system and method |
CN104473653B (zh) * | 2014-12-17 | 2016-08-24 | 山东科技大学 | 三自由度前臂采血机器人 |
US11039820B2 (en) | 2014-12-19 | 2021-06-22 | Distalmotion Sa | Sterile interface for articulated surgical instruments |
DE102015101018A1 (de) | 2015-01-23 | 2016-07-28 | MAQUET GmbH | Vorrichtung zum Halten und Bewegen eines Laparoskops während einer Operation |
CN104921690B (zh) * | 2015-06-17 | 2016-12-14 | 李代碧 | 卡接式镜头支架的制造方法 |
US10973587B2 (en) * | 2015-08-19 | 2021-04-13 | Brainlab Ag | Reference array holder |
EP3340897A1 (de) | 2015-08-28 | 2018-07-04 | DistalMotion SA | Chirurgisches instrument mit erhöhter betätigungskraft |
JP2019509103A (ja) * | 2016-03-04 | 2019-04-04 | コヴィディエン リミテッド パートナーシップ | ロボット外科システムのための逆運動学制御システム |
DE102016107853A1 (de) | 2016-04-28 | 2017-11-02 | Aktormed Gmbh | Operations-Assistenz-System und Verfahren zur Erzeugung von Steuersignalen zur Ansteuerung einer motorisch gesteuerten bewegbaren Roboterkinematik eines derartigen Operations-Assistenz-Systems |
DE102017101782A1 (de) * | 2017-01-30 | 2018-08-02 | Aktormed Gmbh | Operations-Assistenz-System und Verfahren zur Erzeugung von Steuersignalen zur Sprachsteuerung einer motorisch gesteuert bewegbaren Roboterkinematik eines derartigen Operations-Assistenz-Systems |
EP3590406A4 (de) * | 2017-02-28 | 2020-04-01 | Sony Corporation | Medizinisches beobachtungssystem, steuerungsvorrichtung und steuerungsverfahren |
JP2021513442A (ja) | 2018-02-07 | 2021-05-27 | ディスタルモーション エスエー | ロボット遠隔マニピュレータを備えた手術ロボットシステム及び統合腹腔鏡手術 |
US10888385B2 (en) * | 2018-07-09 | 2021-01-12 | Point Robotics Medtech Inc. | Calibration device and calibration method for surgical instrument |
US11602402B2 (en) | 2018-12-04 | 2023-03-14 | Globus Medical, Inc. | Drill guide fixtures, cranial insertion fixtures, and related methods and robotic systems |
US11564761B2 (en) | 2019-03-08 | 2023-01-31 | Mako Surgical Corp. | Systems and methods for controlling movement of a surgical tool along a predefined path |
US11147436B2 (en) | 2019-06-20 | 2021-10-19 | Cilag Gmbh International | Image rotation in an endoscopic fluorescence imaging system |
DE102020106817A1 (de) | 2020-03-12 | 2021-09-16 | Karl Storz Se & Co. Kg | Andockvorrichtung, chirurgische Haltevorrichtung und Verfahren |
DE102020131232B4 (de) | 2020-11-25 | 2023-07-06 | Aktormed Gmbh | Operations-Assistenz-System und Verfahren zur Erzeugung von Steuersignalen zur Sprachsteuerung einer motorisch gesteuert bewegbaren Roboterkinematik eines derartigen Operations-Assistenz-Systems |
PL436895A1 (pl) * | 2021-02-08 | 2022-08-16 | Laparo Spółka Z Ograniczoną Odpowiedzialnością | Kontroler dwuosiowy narzędzia chirurgii małoinwazyjnej, kamera do ćwiczenia chirurgii małoinwazyjnej oraz system do treningu chirurgii małoinwazyjnej |
WO2022266050A1 (en) * | 2021-06-14 | 2022-12-22 | The Regents Of The University Of California | Articulated arm with ramped unlocking and locking mechanism |
CN115355861B (zh) * | 2022-10-19 | 2022-12-30 | 中国科学院长春光学精密机械与物理研究所 | 回转类零件测量时轴心对准方法 |
US11844585B1 (en) | 2023-02-10 | 2023-12-19 | Distalmotion Sa | Surgical robotics systems and devices having a sterile restart, and methods thereof |
Family Cites Families (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5279309A (en) * | 1991-06-13 | 1994-01-18 | International Business Machines Corporation | Signaling device and method for monitoring positions in a surgical operation |
US5417210A (en) * | 1992-05-27 | 1995-05-23 | International Business Machines Corporation | System and method for augmentation of endoscopic surgery |
US6120433A (en) * | 1994-09-01 | 2000-09-19 | Olympus Optical Co., Ltd. | Surgical manipulator system |
US5825982A (en) * | 1995-09-15 | 1998-10-20 | Wright; James | Head cursor control interface for an automated endoscope system for optimal positioning |
US20020128662A1 (en) * | 1998-02-24 | 2002-09-12 | Brock David L. | Surgical instrument |
US6546277B1 (en) * | 1998-04-21 | 2003-04-08 | Neutar L.L.C. | Instrument guidance system for spinal and other surgery |
US6468265B1 (en) * | 1998-11-20 | 2002-10-22 | Intuitive Surgical, Inc. | Performing cardiac surgery without cardioplegia |
JP2005529630A (ja) * | 2001-11-08 | 2005-10-06 | ザ ジョンズ ホプキンズ ユニバーシティ | 画像サーボに基づき蛍光透視法によりターゲティングを行うロボットのためのシステムおよび方法 |
WO2007083310A2 (en) * | 2006-01-18 | 2007-07-26 | Dune Medical Devices Ltd. | System and method for analysis and treatment of a body tissue |
DE10352197B4 (de) | 2003-10-28 | 2006-04-27 | Jürgen Michael Knapp | Operations-Assistenz-System |
US7204168B2 (en) | 2004-02-25 | 2007-04-17 | The University Of Manitoba | Hand controller and wrist device |
ITMI20040695A1 (it) * | 2004-04-08 | 2004-07-08 | Teleios S R L | Apparecchiatura automatica di puntamento per il corretto posizionamento delle viti distali di bloccaggio di un chiodo endomidollare |
DE102004052753A1 (de) * | 2004-10-30 | 2006-05-11 | Knapp, Jürgen Michael | Verfahren und Operations-Assistenz-System zur Steuerung der Nachführung zumindest eines Hilfsinstrumentes bei einem medizinisch minimal-invasiven Eingriff |
WO2007069248A2 (en) * | 2005-12-16 | 2007-06-21 | Galil Medical Ltd. | Apparatus and method for thermal ablation of uterine fibroids |
US8469945B2 (en) * | 2006-01-25 | 2013-06-25 | Intuitive Surgical Operations, Inc. | Center robotic arm with five-bar spherical linkage for endoscopic camera |
EP1815950A1 (de) * | 2006-02-03 | 2007-08-08 | The European Atomic Energy Community (EURATOM), represented by the European Commission | Chirurgisches Robotersystem zur Durchführung minimal-invasiver medizinischer Operationen |
EP1915963A1 (de) * | 2006-10-25 | 2008-04-30 | The European Atomic Energy Community (EURATOM), represented by the European Commission | Kraftabschätzung für ein minimal-invasives Roboterchirurgiesystem |
US8160678B2 (en) * | 2007-06-18 | 2012-04-17 | Ethicon Endo-Surgery, Inc. | Methods and devices for repairing damaged or diseased tissue using a scanning beam assembly |
-
2008
- 2008-03-28 DE DE102008016146A patent/DE102008016146B4/de not_active Expired - Fee Related
-
2009
- 2009-03-20 EP EP09724141A patent/EP2254735B1/de not_active Not-in-force
- 2009-03-20 AT AT09724141T patent/ATE516120T1/de active
- 2009-03-20 US US12/935,012 patent/US8433389B2/en active Active
- 2009-03-20 CN CN200980111388XA patent/CN101980838B/zh not_active Expired - Fee Related
- 2009-03-20 WO PCT/DE2009/000387 patent/WO2009117989A2/de active Application Filing
Also Published As
Publication number | Publication date |
---|---|
WO2009117989A2 (de) | 2009-10-01 |
WO2009117989A3 (de) | 2009-11-19 |
US8433389B2 (en) | 2013-04-30 |
DE102008016146B4 (de) | 2010-01-28 |
EP2254735A2 (de) | 2010-12-01 |
DE102008016146A1 (de) | 2009-10-15 |
CN101980838B (zh) | 2012-07-04 |
EP2254735B1 (de) | 2011-07-13 |
CN101980838A (zh) | 2011-02-23 |
US20110028992A1 (en) | 2011-02-03 |
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